?url_ver=Z39.88-2004&rft_id=10.1016%2Fj.asoc.2021.107376&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Phung%2C+Manh+Duong&rft.aulast=Phung&rft.aufirst=Manh+Duong&rft.volume=107&rft.date=August+2021&rft.issn=1568-4946&rft.atitle=Safety-enhanced+UAV+Path+Planning+with+Spherical+Vector-based+Particle+Swarm+Optimization&rft.title=Applied+Soft+Computing&rft.pages=107376-107376&rft.genre=article